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arXiv · 2303.17304

Robust offset-free constrained Model Predictive Control with Long Short-Term Memory Networks -- Extended version

Irene Schimperna·Lalo Magni
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Abstract

This paper develops a control scheme, based on the use of Long Short-Term Memory neural network models and Nonlinear Model Predictive Control, which guarantees recursive feasibility with slow time variant set-points and disturbances, input and output constraints and unmeasurable state. Moreover, if the set-point and the disturbance are asymptotically constant, offset-free tracking is guaranteed. Offset-free tracking is obtained by augmenting the model with a disturbance, to be estimated together with the states of the Long Short-Term Memory network model by a properly designed observer. Satisfaction of the output constraints in presence of observer estimation error, time variant set-points and disturbances is obtained using a constraint tightening approach.

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Irene Schimperna, Lalo Magni. 2023-03-30. Robust offset-free constrained Model Predictive Control with Long Short-Term Memory Networks -- Extended version. https://doi.org/10.1109/tac.2024.3398494

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